feat(xrpc-server)!: align service auth with atproto proposal 0014
prepare for the audience/kid/lxm changes described in
https://github.com/bluesky-social/proposals/tree/main/0014-service-auth-revised
- replace `ServiceJwtVerifier.serviceDid` with `acceptAudiences` so a service
can accept both bare-DID and DID-with-service-fragment audiences during the
ecosystem transition
- widen jwt `aud` to accept `AtprotoAudience` in addition to a bare DID
- make the `kid` jwt header drive verification-method lookup in the issuer's
DID document (defaulting to `#atproto` when absent); still restricted to
`#atproto` for now, future kid support is non-breaking
- require `lxm` on both signing and verification paths, matching the spec's
"required for XRPC endpoint calls" direction